CN102119670A - Automated mechanical arm stimulating device for animal memory training system - Google Patents
Automated mechanical arm stimulating device for animal memory training system Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
- A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
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Abstract
The invention relates to an automated mechanical arm stimulating device for an animal memory training system, which fundamentally solves the problems of excessive anthropic factor involvement and untimely and inaccurate stimulation of a stimulating system in the traditional maze device. The automated mechanical arm stimulating device comprises an orthogonal coordinate robot positioning system, a PLC (Programmable Logic Controller) system, a test mouse position detecting system and a stimulating system, wherein the orthogonal coordinate robot positioning system is established by adopting a rapid linear positioning mechanism; the test mouse position detecting system comprises four photoelectric thru-beam sensors which are respectively arranged at the door openings of the animal memory training system; the stimulating system comprises a mechanical arm with three pipelines; and the three pipelines respectively correspond to water, gas and food stimulation and respectively realize the supply of water, gas and foods by the PLC system. The automated mechanical arm stimulating device is used for more timely and accurately stimulating a test animal by matching with the animal memory training system formed by a closed rotary maze and ensures the test effect of the animal memory training system.
Description
Technical field
The present invention relates to a kind of relevant stimulating apparatus of zoologizeing the memory behavior training method, particularly a kind of automated machine arm stimulating apparatus that is used for animal memory training system.Can be applicable to fields such as neuro-physiology, Neuropharmacology and psychology.
Background technology
At present, the animal behavior experiment is the indispensable important means of research higher brain function and other Neuscience, especially has position more importantly aspect the behavioral medicine researchs such as neuro-physiology, Neuropharmacology.Wherein maze experiment is the classical project of behavioral experiment, is one of the most frequently used experiment of research experiment mouse learning and memory function, also is cognitive drug screening animal model commonly used.The kind of labyrinth device is more, but all comprises three elements: training set---place animal; The purpose district---be place of safety or food rest area; Passage---there is length that weak point is arranged, has one, select to arrive the correct route in purpose district for animal with the upper channel crossing.
Existing Y type labyrinth is trisection radiant type labyrinth, is made up of three support arms and a bonding pad, and the mutual angle of three arms is 120 °, and shop, every arm bottom is with thin copper bar.Copper rod can communicate with stimulating power supply.Each arm is not held signal lamp is housed, and it is the place of safety that signal lamp is opened this arm of indication, i.e. this arm bottom no power.But the orientation stochastic transformation of place of safety, when certain arm was the place of safety, two arms and bonding pad were all charged in addition, but the initiatively fugue reaction of animal training association is escaped to the place of safety.In experiment, as animal in the bright back of signal lamp or be subjected to the electric shock back and directly escape to the place of safety person and be correct response, otherwise be wrong reaction.The standard that generally the animal via training is reached association is decided to be in continuous 10 tests correct person 9 times.Write down lost resolution of each animal and learn to reach the required training number of association's standard, with this objective indicator as evaluation animal learning ability quality.
Existing water maze then is a labyrinth of injecting certain depth water in its passage.The inner passage shape mostly is T shape, F shape or Π shape, one or more cecums is arranged wherein and the port of export has only one.Animal is placed in the training set, trains its study to select outlet, swim to the ability in purpose district smoothly.Increase the cecum number in the experimentation gradually, observation, record animal enter cecum number of times (being errors number) and swim the used time, to estimate its school grade, memory acquisition and long-time memory function.
Practical application shows, present maze experiment, particularly Y type labyrinth are subjected to its structural limitations can't form the closed circuit of sealing, and water maze can only force animal swimming, can not autokinetic movement.Therefore, no matter be process control during training, or data acquisition, processing, all be that manual operation is more loaded down with trivial details by experimenter's manual operation, manual record corresponding data subjective factor is more, has both taken manpower, and subjective error is also big simultaneously, influences its accuracy.
According to the actual needs of setting up the model of animal learning and memory behavior training method, there is tangible limitation in existing model: promptly human factor is more, and the technology operation is loaded down with trivial details, stimulates untimely, inaccurate; This shows, further develop with the life habit of mouse, set up the model of complicated animal learning and memory behavior training method but the system that is easy to it is detected, be still the task of top priority.
Summary of the invention
The objective of the invention is for a kind of automated machine arm stimulating apparatus that is used for animal memory training system fast and accurately is provided, fundamentally solve existing labyrinth device moderate stimulation system human factor and involve in too much, stimulate untimely, inaccurate problem.
Technical scheme of the present invention is: this is used for the automated machine arm stimulating apparatus of animal memory training system, and its technical essential is: comprise Cartesian robot navigation system, PLC control system, experimental mouse position detecting system, four parts of stimulating system;
The quick straight line detent mechanism of described Cartesian robot positioning system using is built, be divided into X, Y, three directions of motion of Z, and X, Y, Z direction all adopt the straight line positioning unit that is driven by synchronous cog belt to constitute, it drives power and is provided by servo drive system, can be implemented in any any the accurate location space in;
Described experimental mouse position detecting system is made of four photoelectricity correlation sensors of the door opening that is placed on described animal memory training system respectively, in the upper and lower arrangement of described door opening, two sensor units form two test points in the forward and backward placement of described door opening to per two described photoelectricity correlation sensors as a unit;
Described PLC control system comprises the CPU module, motion-control module, described CPU module and motion-control module carry out communication by main substrate, the position signalling that described CPU module provides according to described experimental mouse position detecting system is judged the current location of experimental mouse, and compare with the current location of described Cartesian robot navigation system, and calculate between the two operating path, send movement instruction by described motion-control module and give described servo drive system, the end that described servo drive system drives described Cartesian robot navigation system stimulates mechanism to run to corresponding position;
Described stimulating system comprises three kinds of terminal mechanisms that stimulate, the described terminal mechanical arm that stimulates mechanism for subsidiary three kinds of pipelines, three kinds of described pipeline corresponding water, gas, food stimuluss respectively, and realize controlling the supply of water, gas, food respectively by described PLC control system, behind the position that navigates to experimental mouse, the magnetic valve that is provided with on the described mechanical arm is opened automatically, and discharging accordingly stimulates.
Advantage of the present invention and positive technique effect are: because the Cartesian robot navigation system, PLC control system, experimental mouse position detecting system, the stimulating system that adopt, be that data acquisition of the present invention, processing, control etc. are controlled by computer intelligence fully, unmanned is operation factors, the speed of service is fast, realized real-time tracking, accurately located, and can be according to the running orbit of experimental mouse, accurately judge, in time give the different stimulated of water, gas and food.The present invention cooperates the animal memory training system that adopts closed rotary labyrinth to form more timely to the stimulation of laboratory animal, more accurate, has guaranteed the experiment effect of animal memory training system.
Description of drawings
The invention will be further described in conjunction with the accompanying drawings:
Fig. 1 is the structure diagram of Cartesian robot navigation system of the present invention;
Fig. 2 is the single detecting unit control circuit schematic diagram of experimental mouse position detecting system of the present invention;
Fig. 3 is the control block diagram of PLC control system of the present invention;
Fig. 4 is stimulating apparatus of the present invention (mechanical arm) structure diagram;
Fig. 5 is the upward view of Fig. 4;
Fig. 6 is the concrete structure schematic diagram of labyrinth device;
Fig. 7 is the vertical view of Fig. 6;
Sequence number explanation among the figure: 1 aquaporin, 2 gas passages, 3 passage of food, 4 magnetic valves, 5 mobile liquid crystals screen, 6 casings, 7 dividing plates, 8 liquid crystal displays, 9 motors, 10 sieve shape supporting networks, 11 rotating disks, 12 water pipes, 13 tanks, 14 water brush, 15 support pulleys, 16 supports, 17 pulleys, 18 door openings, 19 food grooves.
Embodiment
This automated machine arm stimulating apparatus is applicable to animal memory training system, and described animal memory training system is very great for behavioral medicine Research Significances such as neuro-physiology, Neuropharmacology.Animal memory training system among the application adopts circular camera bellows formula labyrinth as the behavioral data harvester, allow experimental mouse pass through the closed-loop path that hole shape passage forms, finish circuit training successively, utilize autokinetic movement of mouse and the movement track that rotation drives the passive movement record mouse that stimulates, gather this trace information by data acquisition unit.Be transferred to database in the Control System of Microcomputer by data/address bus then, control and monitor the crawler behavior of mouse at any time.
One, couple the present invention is described in detail according to Fig. 1-5: this automated machine arm stimulating apparatus mainly is made of Cartesian robot navigation system, PLC control system, experimental mouse position detecting system, 4 parts of stimulating system.
Wherein, the quick straight line detent mechanism that (one), Cartesian robot positioning system using Germany BAHR company makes is built, and is divided into three directions of motion of X Y Z, can be implemented in any any the accurate location space in.As shown in Figure 1, Cartesian robot navigation system crossbearer is on the labyrinth device of animal memory training system, and the bottom utilizes base support.The straight line positioning unit that its X-direction (level 1), Y direction (level 2), Z-direction (vertical direction) all adopt the synchronous cog belt produced by German BAHR company to drive constitutes, and can reach 2.0 meter per seconds by the maximum movement speed of direction.The driving power of system is provided by the servomotor that three MATs produce, and the maximum operational speed of servomotor can reach 3000 rev/mins, and the operating instruction of servomotor is from the PLC motion-control module of control system.Motor reaction can the instruction to host computer be made by this system in 0.01 second.
BAHR company is as one of the most professional Cartesian robot manufacturer in Germany and even the whole world, be absorbed in the research and development of straight line navigation system and product in decades always, the good reputation that obtained in the field of business, its product also are widely used on the production line such as every field such as automobile, electronics, electrical equipment, detection, medical treatment, space flight, food.
(2), the experimental mouse position detecting system is made of four photoelectricity correlation sensors of the door opening that is placed on animal memory training system respectively.Per two photoelectricity correlation sensors as a unit in the upper and lower arrangement of door opening, with the form output of ' or '.So just can prevent that experimental mouse from skipping or pass by on all fours and identification occurs leaking.Two sensor units form two test points in the forward and backward placement of described door opening, but the direction that the test experience mouse passes through is positive and negative.Single detecting unit control circuit schematic diagram as shown in Figure 2.Stimulation circuit: when infrared emission---receiving sensor work, when not having experimental mouse to pass through, amplifier is the input input low level in the same way, and output does not stimulate low level input single-chip microcomputer IO mouth; When experimental mouse was passed through non-green, amplifier is the input input high level in the same way, and output after high level is imported single-chip microcomputer IO mouth corresponding stimulation takes place.
In case experimental mouse is by door opening, corresponding optoelectronic switch can be given upper PLC with the feedback information of experimental mouse in several microseconds, and upper PLC can calculate the current location of experimental mouse according to position signalling rapidly.
(3), the PLC control system comprises CPU module (Q00 of Mitsubishi), motion-control module (QD75-D4 of Mitsubishi) etc., CPU module and motion-control module carry out communication (Q33B of Mitsubishi) by main substrate, the position signalling that the CPU module provides according to the experimental mouse position detecting system is judged the current location of experimental mouse, and compare with the current location of Cartesian robot navigation system, and calculate between the two operating path, send movement instruction by motion-control module and give described servo drive system, the end that servo drive system drives the Cartesian robot navigation system stimulates mechanism to run to corresponding position.
Need to prove: any one door opening all has former and later two test points, when experimental mouse when first test point enters, control system meeting direct command linear robot navigation system runs to the opposite of corresponding door opening, when experimental mouse is passed through second test point of this door opening, experimental needs are made corresponding processing instruction, promptly stimulate kind.
As shown in Figure 3, the CPU module of PLC can store the program of establishment.After storing the program of creating, can also can detect the operation etc. that makes mistakes of QD75 locating module to motion-control module (QD75 locating module) output location initiating signal and axle stop signal.The PC of CPU module can detect control informations such as gate signal.And the QD75 locating module can be imported into the signal of mechanical arm and speed, position handover information by the input switch of mechanical system, and outputs to drive unit according to the instruction from CPU.After drive unit receives instruction, drive motor work, electromotor then drives mechanical arm and carries out the stimulation task.
(4), stimulating system comprises three kinds of terminal mechanisms that stimulate, the terminal mechanical arm that stimulates mechanism for subsidiary three kinds of pipelines, three kinds of pipeline corresponding water, gas, food stimuluss respectively, shown in Fig. 4,5, waterpipe 1, gas passage 2, passage of food 3 are set respectively on the mechanical arm, and the mechanical arm end also is provided with mobile liquid crystal screen 5.Stimulating system realizes controlling the supply of water, gas, food respectively by the PLC control system, and behind the position that navigates to experimental mouse, the terminal magnetic valve 4 that is provided with of mechanical arm is opened automatically according to the mistakes gate signal that PC sends, and discharges stimulation accordingly.
Two, to the description of the labyrinth device of using stimulating apparatus of the present invention.
This labyrinth device comprises round box 6 and circuit control system, is provided with some dividing plates 7 between round box 6 inwalls and the center column, thereby casing is separated into plurality of data acquisition zone, purpose district, the identical door opening 18 of each dividing plate uniform outward appearance in bottom.The improvement main points of labyrinth device are that as shown in Figure 6 bottom half is provided with rotating disk 11, and center column is provided with motor 9, motor 9 output shafts along center column axially and rotating disk 11 centers be fastenedly connected, then rotating disk 11 can rotate around center column under driven by motor.Casing frame lower periphery is provided with the pulley 17 of some rotating disks, in supporting wheel, does not influence its rotation again.Rotating disk 11 tops are provided with sieve shape supporting network 10, and this supporting network 10 can be other materials such as wire netting or plastics and makes.Rotating disk 11 belows are provided with tank 13 and form the collecting dung treating apparatus, and tank 13 upper edge periphery have water pipe 12, evenly offer mouth spray on the water pipe 12, and tank 13 bottoms are provided with the bracing frame and the following mouth of a river, and 13 also are provided with water brush 14 in the tank.
Circuit control system comprises power supply, single-chip microcomputer, looks the sense of smell controller, flush discharge system controller etc. automatically.Single-chip microcomputer sends a signal to the motor 9 of control rotating disk, realizes rotatablely moving of rotating disk 11.The application's Electric Machine Control adopts solid-state relay control, the power＜100w of drive motors.Solid-state relay adopts 1000w's herein.Single-chip microcomputer is managed indirect control relay by MOS.The instruction of Single-chip Controlling motor comes from host computer and sends the instruction of getting off by the CAN bus.CAN and RS232 conversion interface circuit are realized the data transaction between CAN bus protocol and the RS232 agreement.The host computer instruction sends to each child node by this system.Automatically flush discharge system (dung collection system) controller receives AT89S51 single-chip microcomputer P3.6 (I/O) and sends control signal, control its BFC-2 type electric valve controller work, and then the motor-driven valve that control is installed on the collecting dung treating apparatus opens/cuts out, the water pipe that the tank upper edge of collecting dung treating apparatus is arranged is communicated with the water source or intercepts, the running water water source by motor-driven valve to launching gear, be that tank regularly washes, sewage flows out from the described mouth of a river down.The water that is provided with in the tank 13 is brushed 14 tops and is fixed on rotating disk 11 bottoms, its underpart brush body contacts with trench bottom with the tank sidewall, when Single-chip Controlling rotating disk 11 rotates, water brush 14 rotates thereupon, then the bottom brush body can be scrubbed tank, dispose the excreta of laboratory animal etc., and then eliminate the influence that smell brings experiment effect.The smell releasing device: single-chip microcomputer is controlled liquid crystal display LCD and smell controller simultaneously by looking the sense of smell controller, single-chip microcomputer is after detecting scent signal, by air compressor, control valve, smell generator, pressure-reducing valve fresh air is sent to the mechanical arm that training system is provided with, is delivered to the smell jar that is provided with in the position, labyrinth by mechanical arm again.
The general structure of labyrinth of the present invention device is that the classic dividing plate number of establishing is 6, and the round box equal angles is separated into A, B, C, D, six intervals of E, F, as shown in Figure 7, wherein 5 of data collection zone, 1 in purpose district, equidistant respectively 4 door openings that distribute in each dividing plate below, each interval dividing plate is provided with liquid crystal display, and the purpose district is provided with food groove.Each door opening place that dividing plate below is provided with is provided with two photoelectricity correlation sensor units, places respectively behind the door in front of the door, with the form output of ' or ', thereby just can detect the direction that mouse is moved into one's husband's household upon marriage, so that the run trace of detection mouse.Acousto-optic to experimental mouse stimulates: by single-chip microcomputer IO mouth, the grid of control MOS pipe is realized the control to light emitting source (liquid crystal display) and sound generation source, can control the frequency of sounding and luminous intensity.Wherein, single-chip microcomputer connects the data message that main control unit sends as sub-receiving element, extracts command information from data message, and then sends sound stimulation, light stimulus.The control data that can extract stimulation from data message has luminous intensity, audible frequency etc.Visual stimulus unit to experimental mouse: adopt the ViSaGe visual stimulus generator, belong to prior art.ViSaGe adopts 14bitDCAs image export technique, thereby visual stimulus color of image, the brightness of guaranteeing ViSaGe control output accurately and accurately show the time, even also the frame losing phenomenon can not take place when image switches fast.CRS MATLAB kit makes and adopts MATLAB Programming with Pascal Language output visual stimulus image to become more convenient.Simultaneously, multiple interfaces guarantee ViSaGe can with other device synchronization uses, as ResonseBox, EyeTracker, EEG, Optotrak and fMRI etc.Food groove is the drum type that the side has grid, and the one bottom surface can be attached on the smooth separator face.On another bottom surface on the other side, the opening of food groove is arranged, utilize folding semicircular upper half plane, food can be put into food groove.The round sides periphery of food groove is provided with ring-shaped jacket, overcoat is divided into two, under can separately expose grid, by circuit control system control, when overcoat is opened, animal can be had food as the award of finishing training mission from the grid below of food groove, after through certain hour (10s), power supply disconnects, and then overcoat is closed, seal grid, animal promptly can't be had food.
It is desirable more that the present invention disposes the animal memory training system experimentation effect that above-mentioned labyrinth device forms, and the research in fields such as neuro-physiology, Neuropharmacology and psychology is had unusual meaning.
Claims (2)
1. an automated machine arm stimulating apparatus that is used for animal memory training system is characterized in that: comprise Cartesian robot navigation system, PLC control system, experimental mouse position detecting system, four parts of stimulating system;
The quick straight line detent mechanism of described Cartesian robot positioning system using is built, be divided into X, Y, three directions of motion of Z, and X, Y, Z direction all adopt the straight line positioning unit that is driven by synchronous cog belt to constitute, and are provided with and can be implemented in arbitrarily the servo drive system of the accurate location of any as driving power in the space in;
Described experimental mouse position detecting system is made of four photoelectricity correlation sensors of the door opening that is placed on described animal memory training system respectively, in the upper and lower arrangement of described door opening, two sensor units form two test points in the forward and backward placement of described door opening to per two described photoelectricity correlation sensors as a unit;
Described PLC control system comprises the CPU module, motion-control module, described CPU module and motion-control module carry out communication by main substrate, the position signalling that described CPU module provides according to described experimental mouse position detecting system is judged the current location of experimental mouse, and compare with the current location of described Cartesian robot navigation system, and calculate between the two operating path, send movement instruction by described motion-control module and give described servo drive system, the end that described servo drive system drives described Cartesian robot navigation system stimulates mechanism to run to corresponding position;
Described stimulating system comprises three kinds of terminal mechanisms that stimulate, the described terminal mechanical arm that stimulates mechanism for subsidiary three kinds of pipelines, three kinds of described pipeline corresponding water, gas, food stimuluss respectively, and realize controlling the supply of water, gas, food respectively by described PLC control system, described mechanical arm three pipeline ends are provided with magnetic valve respectively, after described magnetic valve was opened automatically, discharging accordingly stimulated.
2. the automated machine arm stimulating apparatus that is used for animal memory training system according to claim 1 is characterized in that: described mechanical arm end also is provided with the mobile liquid crystal screen.
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| PCT/CN2011/071868 WO2012119323A1 (en) | 2011-03-07 | 2011-03-16 | Automatic mechanical arm stimulating device for animal memory training system |
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| WO2012119322A1 (en) * | 2011-03-07 | 2012-09-13 | 沈阳医学院 | Closed rotary maze device for animal memory training system |
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| CN115399256A (en) * | 2022-09-01 | 2022-11-29 | 山东中医药大学 | Intelligent air blowing type labyrinth capable of replacing water labyrinth experiment |
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| WO2012119322A1 (en) * | 2011-03-07 | 2012-09-13 | 沈阳医学院 | Closed rotary maze device for animal memory training system |
| GB2498685A (en) * | 2011-03-07 | 2013-07-24 | Shenyang Medical College | Closed rotary maze device for animal memory training system |
| GB2498685B (en) * | 2011-03-07 | 2015-06-10 | Shenyang Medical College | Closed rotary maze device for animal memory training system |
| CN108289434A (en) * | 2015-07-24 | 2018-07-17 | 蒙彼利埃大学 | The instrumentation equipment for orienting the ability of own for characterizing mouse |
| CN108289434B (en) * | 2015-07-24 | 2021-03-09 | 蒙彼利埃大学 | Instrumented device for characterizing the ability of a mouse to orient itself |
| CN107493042A (en) * | 2017-08-30 | 2017-12-19 | 贵州省原态上品农业科技有限责任公司 | A kind of mobile pigsty control system |
| CN107787870A (en) * | 2017-11-24 | 2018-03-13 | 沈阳医学院 | Police dog searches quick-fried automation training cabin |
| CN107787870B (en) * | 2017-11-24 | 2023-11-10 | 沈阳医学院 | Police dog search explosion automatic training cabin |
| CN115399256A (en) * | 2022-09-01 | 2022-11-29 | 山东中医药大学 | Intelligent air blowing type labyrinth capable of replacing water labyrinth experiment |
| CN115399256B (en) * | 2022-09-01 | 2024-05-03 | 山东中医药大学 | Intelligent blowing type labyrinth device capable of replacing water labyrinth experiment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2012119323A1 (en) | 2012-09-13 |
| CN102119670B (en) | 2012-10-03 |
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